SwARM : this is almost the end

Hi everyone,

We made so much progress since last time. The robot can do a simple movement with much accuracy.

I spent the day to merge the IMU code into dev but we are facing some issue.
I started to script the final presentation with Paul and do some slides.

We are near our goal, still their is much work to do.

that’s all, have a good night (better than ours ^^)

SwARM, debugging

Hi everyone,

this week I rewrote the motion control algorithm to fix the problems we had (it turned out it was simpler than trying to debug that mess). The robot is able to follow paths but is still very unprecise. We’ll try to fix that …


SwARM, week 18, 1/2



Since Arnaud’s implementation of the new algorithm works, we decided not to take the chance to use my better optimized version: as we say in French, “better is the enemy of good”.

We now have moving robots, sort of, and are integrating the imu. Hopefully, we’ll have integrated the decawave too, for now the precision is horrendous.

The presentation is getting really good, only minor changes were made recently.

We are really close to getting something good looking, but as of now it is highly disappointing, especially since now bugs seem to spawn hourly.

Ad unum


SwARM: Final Countdown


This first part of the week was as intense as the last month, we finished integrating the calculation of the trajectory with the PIDs, so robots are moving. Now, the challenge is to finish integrating the data from all the sensors: the decawaves, the IMU and the coding wheels.
For now it doesn’t work but solutions are being tested.

Also this first part of the week we prepared the rational part behind the presentation that we will be making on Friday. Perceval and I wrote the slides and a complete document to support us when answering the questions we might be asked during the presentation.

Today I built four more robots and tested their motors and coding wheels with Arnaud’s help. Because of an unfortunate short-circuit, a board is now bricked 🙁 So there will only be 5 moving robots in the choreography.

We all really want to see the robots dance, so there won’t be much sleeping tonight either…

Next post will be my last,

Have a nice week !


Today’s batch

A first bite of our project

SwARM, building robots and hunting bugs

Hi everyone,

Since last post I made with Perceval a batch of 6 robots. We still have to test them all.

I also wrote a system to get coding wheel ticks with the ADC since we had no good result with the comparators. We tested it and it seems to be working.

I wrote smaller sin, cos, acos function that allow us the save 7KB in flash (otherwise the project didn’t link). Of course we have a slightly worsened precision but it should still do the job.

We tried to help Alban and Paul debugging without success …


SwARM, week 17, 2/2


Sorrow shall mark these days. We simply could not integrate Paul’s and my work, far too many bugs spawned everywhere. Despair overcomes us.

I am currently re-writing my pathing algorithm to clean the ugly mess it had become, and in the hope that this new elegant code will suck less: I stick to KISS.



SwARM: Fever Dream

Hey guys,

This weekend we spent all our time in A406 to go as far as possible with our project.

We worked on the PIDs, which are working fine now as you have seen in Perceval’s post on saturday. We defined the robots’ limits regarding how fast it can execute a rotation or move in a straight line. These values are written in our wiki, in the choreography section.

Today we are integrating our different features, the most visual and critical being the PIDs and the choreography. For now there seems to be a problem but we are on the verge on finding the solution (I hope so :).

Also we fabricated more robots to have all the ones we need for the presentation on Friday.

I wish us good luck for the rest of the night,

The deadline for pushing to master is closing!


SwARM last update of the week-end before evalutation

Hui everyone,

This week-end we worked hard to finish our project. We are near the end still there are things more to do.
I soldered three more boards and manufactured leds strip with Arnaud.

We are merging moving branch with the choreography algorithm.

that’s all. 🙂

SwARM progress like its bot

Hi everyone,

So today we made some progress, first, we draw the our algorithm for moving

This afternoon we finally got the robot to go strait forward !!! Such an improvement !!!

With Paul we started to determined the “limits” of the robot movements like : what is the minimum time needed to do a perect 90° turn ? What is the ideal acceleration at the beginning of a strait line to respect the distance ? Actually it works with the fact that we divide the movement in little ones and we let a bigger time for the firsts centimeters so it can reach its max speed more smoothly.

Tomorrow we will finish this part and try to merge it with the choreography algorithm of Alban.

That’s all, good night

Debugging Coding wheels

hi everyone,

a little update to say that we manage to drive our coding wheels by switching from the comparator of the STM32 to the simple ADC and handling this part with software.
here it is some so much more precise results

it was a busy night (deadline syndrome…)

that’s all.